NodePtr.hpp

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#ifndef DART_DYNAMICS_DETAIL_NODEPTR_HPP_
#define DART_DYNAMICS_DETAIL_NODEPTR_HPP_
 
#include "dart/dynamics/detail/BodyNodePtr.hpp"
 
namespace dart {
namespace dynamics {
 
class NodeDestructor;
 
template <class NodeT, class BodyNodeT>
class TemplateNodePtr
{
public:
  template <class, class>
  friend class TemplateNodePtr;
 
  using element_type = NodeT;
 
  TemplateNodePtr() : mNode(nullptr) {}
 
  TemplateNodePtr(NodeT* _ptr)
  {
    set(_ptr);
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateNodePtr(const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _ptr)
  {
    set(_ptr.get());
  }
 
  TemplateNodePtr& operator=(NodeT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateNodePtr& operator=(
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _ptr)
  {
    set(_ptr.get());
    return *this;
  }
 
  operator NodeT*() const
  {
    return get();
  }
 
  NodeT& operator*() const
  {
    return *get();
  }
 
  NodeT* operator->() const
  {
    return get();
  }
 
  NodeT* get() const
  {
    return mNode;
  }
 
  void set(NodeT* _ptr)
  {
    if (nullptr == _ptr)
    {
      mBodyNodePtr = nullptr;
      mDestructor = nullptr;
      mNode = nullptr;
      return;
    }
 
    mBodyNodePtr = _ptr->getBodyNodePtr();
    mDestructor = _ptr->mDestructor.lock();
    mNode = _ptr;
  }
 
protected:
  NodeT* mNode;
 
  std::shared_ptr<NodeDestructor> mDestructor;
 
  TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
};
 
template <class NodeT, class BodyNodeT>
class TemplateWeakNodePtr
{
public:
  template <class, class>
  friend class TemplateWeakNodePtr;
 
  TemplateWeakNodePtr() : mNode(nullptr) {}
 
  TemplateWeakNodePtr(NodeT* _ptr)
  {
    set(_ptr);
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr(
      const TemplateWeakNodePtr<OtherNodeT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr(
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
  }
 
  TemplateWeakNodePtr& operator=(NodeT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr& operator=(
      const TemplateWeakNodePtr<OtherNodeT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
    return *this;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr& operator=(
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
    return *this;
  }
 
  TemplateNodePtr<NodeT, BodyNodeT> lock() const
  {
    TemplateBodyNodePtr<BodyNodeT> bodyNode = mWeakBodyNodePtr.lock();
    if (nullptr == bodyNode)
      return nullptr;
 
    std::shared_ptr<NodeDestructor> destructor = mWeakDestructor.lock();
    if (nullptr == destructor)
      return nullptr;
 
    return TemplateNodePtr<NodeT, BodyNodeT>(mNode);
  }
 
  void set(NodeT* _ptr)
  {
    if (nullptr == _ptr)
    {
      mNode = nullptr;
      mWeakDestructor.reset();
      mWeakBodyNodePtr = nullptr;
      return;
    }
 
    mWeakBodyNodePtr = _ptr->getBodyNodePtr();
    mWeakDestructor = _ptr->getOrCreateDestructor();
    mNode = _ptr;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  void set(const TemplateWeakNodePtr<OtherNodeT, OtherBodyNodeT>& _weakPtr)
  {
    mNode = _weakPtr.mNode;
    mWeakDestructor = _weakPtr.mWeakDestructor;
    mWeakBodyNodePtr = _weakPtr.mWeakBodyNodePtr;
  }
 
protected:
  NodeT* mNode;
 
  std::weak_ptr<NodeDestructor> mWeakDestructor;
 
  TemplateWeakBodyNodePtr<BodyNodeT> mWeakBodyNodePtr;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_NODEPTR_HPP_